在轨可更换模块对接接口技术综述

doi:10.3969/j.issn.1004-132X.2020.16.004

摘要/Abstract

摘要： 针对航天工程上对航天器进行模块更换的在轨服务与维护技术需求，梳理了国内外在轨可更换模块对接接口技术的研究进展和成果。从对接接口与机械臂动作特点出发，重点对其技术需求、功能原理、性能指标等进行了综述，对国内外在轨可更换模块对接接口技术的差距进行了对比分析，并提出了我国在轨可更换模块对接接口关键技术的发展方向。

关键词: 在轨可更换模块, 模块化航天器, 在轨服务, 对接接口, 功能集成

Abstract: According to the requirements of on-orbit service and maintenance technology for module replacement of spacecrafts in space engineering, the research progresses and achievements of docking interface technology of ORUs at home and abroad were reviewed. The technical requirements, functional principles and performance indexes were summarized on the basis of the action characteristics for the robotic arms and docking interfaces. The gaps of docking interface technology of ORUs were compared and analyzed between China and foreign countries. The main development directions were proposed for the key technologies of the ORU docking interfaces in China.

Key words: orbital replacement unit(ORU), modular spacecraft, on-orbit service, docking interface, functional integration

中图分类号:

V423

庄原1;孔宁2;任杰2;刘育强1;王耀兵1;张杰2;王文龙1;马帅2. 在轨可更换模块对接接口技术综述[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.16.004.

ZHUANG Yuan1;KONG Ning2;REN Jie2;LIU Yuqiang1;WANG Yaobing1;ZHANG Jie2;WANG Wenlong1;MA Shuai2. Review of Docking Interface Technology for Orbital Replacement Units[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.16.004.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2020.16.004

http://www.cmemo.org.cn/CN/Y2020/V31/I16/1917

参考文献

[1]COHEN F, DALTON P J. Space-station Nickel-hydrogen Battery Orbital Replacement Unit Test[J]. Journal of Propulsion & Power, 1996, 12(5):886-892.
[2]HU B, CHEN F, HAN L, et al. Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout[J]. International Journal of Aerospace Engineering, 2018, 2018:1-18.
[3]LI W, CHENG D, LIU X, et al. On-orbit Service (OOS) of Spacecraft: a Review of Engineering Developments[J]. Progress in Aerospace Sciences, 2019, 108:32-120.
[4]FLORES-ABAD A, MA O, PHAM K, et al. A Review of Space Robotics Technologies for On-orbit Servicing[J]. Progress in Aerospace Sciences, 2014, 68(7):1-26.
[5]PINSON R, HOWARD R, HEATON A. Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons[C]∥AIAA Guidance, Navigation and Control Conference and Exhibit. Honolulu: AIAA, 2008:1-12.
[6]ZHAI X, LI X H, ZHOU S Y. Structure Design and Analysis for the Spacecraft On-orbit Replacement Unit(ORU)[J]. Applied Mechanics & Materials, 2013, 437:449-453.
[7]高亮, 陈文华, 刘娟,等. 航天电连接器的空间环境效应和失效模式分析[J]. 中国机械工程, 2010, 21(13):1598-1604.
GAO Liang, CHEN Wenhua, LIU Juan, et al. Analysis of Space Environment Effects and Failure Modes of Aerospace Electrical Connectors[J]. China Mechanical Engineering, 2010, 21(13):1598-1604.
[8]STOLL E, LETSCHNIK J, WALTER U, et al. On-orbit Servicing[J]. IEEE Robotics & Automation Magazine, 2009, 16(4):29-33.
[9]谭春林，刘永健，于登云. 在轨维护与服务体系研究[J]. 航天器工程, 2008, 17(3):45-50.
TAN Chunlin, LIU Yongjian, YU Dengyun. Research on System of On-orbit Spacecraft Maintenance and Servicing[J]. Spacecraft Engineering, 2008, 17(3):45-50.
[10]汤树人, 陈宝东, 刘仲,等. 空间对接机构捕获锁优化设计[J]. 中国机械工程, 2016, 27(5):615-621.
TANG Shuren, CHEN Baodong, LIU Zhong, et al. Optimization Design of Capture Latch in Space Docking Mechanism[J]. China Mechanical Engineering, 2016, 27(5):615-621.
[11]JAHNKE S S, MAIWALD V, PHILPOT C, et al. Orbital Hub: a Concept for Human Spaceflight Beyond ISS Operations[J]. CEAS Space Journal, 2018, 11:355-379.
[12]HASTINGS D E, JOPPIN C. On-orbit Upgrade and Repair:The Hubble Space Telescope Example[J]. Journal of Spacecraft & Rockets, 2006, 43(3):614-625.
[13]REMBALA R, OWER C. Robotic Assembly and Maintenance of Future Space Stations Based on the ISS Mission Operations Experience[J]. Acta Astronautica, 2009, 65(7/8):912-920.
[14]徐明，王金龙. 分离模块化航天器系统评估和优化设计研究[J]. 上海航天, 2015, 32(6):11-19.
XU Ming, WANG Jinlong. Value-centric Assessment and Optimization Design for Fractionated Spacecraft[J]. Aerospace Shanghai, 2015, 32(6):11-19.
[15]董云峰，王兴龙. 卫星集群概念研究[J]. 航天器工程, 2012(4):87-92.
DONG Yunfeng, WANG Xinglong. Research on Conception of Satellite Cluster[J]. Spacecraft Engineering, 2012(4):87-92.
[16]HOFSTETTER W, WECK O D, CRAWLEY E. Modular Building Blocks for Manned Spacecraft: a Case Study for Moon and Mars Landing Systems[J]. INCOSE International Symposium, 2005, 15(1):1296-1312.
[17]OLIVIERI L, FRANCESCONI A. Design and Test of a Semiandrogynous Docking Mechanism for Small Satellites[J]. Acta Astronautica, 2016, 122:219-230.
[18]BOESSO A, FRANCESCONI A. ARCADE Small-scale Docking Mechanism for Micro-satellites[J]. Acta Astronautica, 2013, 86:77-87.
[19]KIM W S. Computer Vision Assisted Virtual Reality Calibration[J]. IEEE Transactions on Robotics & Automation, 1999, 15(3):450-464.
[20]RIESS A G, MACRI L, CASERTANO S, et al. A Redetermination of the Hubble Constant with the Hubble Space Telescope from a Differential Distance Ladder[J]. Astrophysical Journal, 2009, 699(2):579-607.
[21]FRIEND R B. Orbital Express Program Summary and Mission Overview[J]. Proceeding of SPIE, 2008, 6958(3):2-13.
[22]FORSHAW J L, AGLIETTI G S, NAVARATHINAM N, et al. Remove DEBRIS:an In-orbit Active Debris Removal Demonstration Mission[J]. Acta Astronautica, 2016, 127:448-463.
[23]马聪. 在轨更换模块组件设计及动力学分析[D]. 哈尔滨:哈尔滨工业大学, 2014.
MA Cong. The Design and Dynamics Analysis of the Orbital Replacement Unit Assembly[D]. Harbin:Harbin Institute of Technology, 2014.
[24]MEGURO A, SHINTATE K, USUI M, et al. In-orbit Deployment Characteristics of Large Deploy Able Antenna Reflector Onboard Engineering Test Satellite Ⅷ[J]. Acta Astronautica, 2009, 65(9/10):1306-1316.
[25]KROLIKOWSKI A, DAVID E. Commercial On-orbit Satellite Servicing:National and International Policy Considerations Raised by Industry Proposals[J]. New Space, 2013, 1(1):29-41.
[26]VINALS J, URGOITI E, GUERRA G, et al. Multi-functional Interface for Flexibility and Reconfigurability of Future European Space Robotic Systems[J]. Advances in Astronautics Science and Technology, 2018, 1(1):119-133.
[27]KUMAR K D, YASAKA T, SASAKI T. Orbit Transfer of Service Vehicle/Payload through Tether Retrieval[J]. Acta Astronautica, 2004, 54(9):687-698.
[28]OGILVIE A, ALLPORT J, HANNAH M, et al. Autonomous Robotic Operations for On-orbit Satellite Servicing[J]. Proceedings of SPIE: the International Society for Optical Engineering, 2008, 6958:695809.
[29]洪涛, 赵佃云. 高速摄像环境下航天电连接器分离边缘提取算法[J]. 中国机械工程, 2017, 28(9):1074-1077.
HONG Tao, ZHAO Dianyun. Algorithm of Separation Edge Extraction of Aerospace Electrical Connector in High-speed Photography[J]. China Mechanical Engineering, 2017, 28(9):1074-1077.
[30]COLESHILL E, OSHINOWO L, REMBALA R, et al. Dextre:Improving Maintenance Operations on the International Space Station[J]. Acta Astronautica, 2009, 64(9/10):869-874.
[31]谭益松, 任立敏, 张海波. 空间站用大型末端执行器研究进展综述[J]. 中国机械工程, 2014, 25(13):1838-1845.
TAN Yisong, REN Limin, ZHANG Haibo. Development of Large-scale End-effector for Space Station[J]. China Mechanical Engineering, 2014, 25(13):1838-1845.
[32]ZHANG K. Review of the Development of Robotic Manipulator for International Space Station[J]. Chinese Journal of Space Science, 2010, 476(1):612-619.
[33]YOSHIDA K. Achievements in Space Robotics[J]. IEEE Robotics & Automation Magazine, 2009, 16(4):20-28.
[34]SHOEMAKER J, WRIGHT M. Orbital Express Space Operations Architecture Program[J]. Proceedings of SPIE, 2004, 5088:1-9.
[35]CASTRONUOVO M M. Active Space Debris Removal:a Preliminary Mission Analysis and Design[J]. Acta Astronautica, 2011, 69(9/10):848-859.
[36]IMAIDA T, YOKOKOHJI Y, DOI T, et al. Ground-Space Bilateral Teleoperation of ETS-Ⅶ Robot Arm by Direct Bilateral Coupling under 7-S Time Delay Condition[J]. IEEE Transactions on Robotics and Automation, 2004, 20(3):499-511.
[37]YAMAGISHI A, KAWAGUCHI Y, HASHIMOTO H, et al. Environmental Data and Survival Data of Deinococcus Aetherius from the Exposure Facility of the Japan Experimental Module of the International Space Station Obtained by the Tanpopo Mission[J]. Astrobiology, 2018, 18(11):1369-1374.
[38]KAWAGUCHI Y, YOKOBORI S, HASHIMOTO H, et al. Investigation of the Interplanetary Transfer of Microbes in the Tanpopo Mission at the Exposed Facility of the International Space Station[J]. Astrobiology, 2016, 16(5):363-376.
[39]COOK J, AKSAMENTOV V, HOFFMAN T, et al. ISS Interface Mechanisms and Their Heritage[J]. Papers Deducació, 2011, 71:312-313.
[40]JANKOVIC M, BRINKMANN W, BARTSCH S, et al. Concepts of Active Payload Modules and End-effectors Suitable for Standard Interface for Robotic Manipulation of Payloads in Future Space Missions(SIROM) Interface[C]∥2018 IEEE Aerospace Conference. Bremen: IEEE, 2018:1-15.
[41]FREDRICKSON S E, ABBOTT L W, DURAN S, et al. Mini AERCam:Development of a Free Flying Nanosatellite Inspection Robot[J]. Proceedings of SPIE:the International Society for Optical Engineering, 2003, 5088:97-111.
[42]WANG X, LI S, SHE Y. Concept Design and Cluster Control of Advanced Space Connectable Intelligent Microsatellite[J]. Acta Astronautica, 2017, 141:1-7.
[43]FREDRICKSON S E, DURAN S, HOWARD N, et al. Application of the Mini AERCam Free Flyer for Orbital Inspection[J]. The International Society for Optical Engineering, 2004, 5419:1-11.
[44]NOLET S, KONG E, MILLER D W. Autonomous Docking Algorithm Development and Experimentation Using the SPHERES Testbed[J]. Proceedings of SPIE: the International Society for Optical Engineering, 2004, 5419:1-15.
[45]HOFF N R. Design and Implementation of a Relative State Estimator for Docking and Formation Control of Modular Autonomous Spacecraft[D]. Boston:Massachusetts Institute of Technology, 2007.
[46]PIRAT C, ANKERSEN F, WALKER R, et al. Vision Based Navigation for Autonomous Cooperative Docking of Cubesats[J]. Acta Astronautica, 2018, 146:418-434.
[47]NOLET S, MILLER D W. Autonomous Docking Experiments Using the SPHERES Testbed Inside the ISS[J]. Proceedings of SPIE, 2007, 6555:1-12.
[48]MOUBARAK P, BEN-TZVI P. Modular and Reconfigurable Mobile Robotics[J]. Robotics & Autonomous Systems, 2012, 60(12):1648-1663.
[49]WENZEL W, CORDES F, KIRCHNER F. A Robust Electro-mechanical Interface for Cooperating Heterogeneous Multi-robot Teams[C]∥International Conference on Intelligent Robots and Systems (IROS). Hamburg: IEEE, 2015:1732-1737.
[50]SHEN W M, KOVAC R, RUBENSTEIN M. SINGO:a Single-end-operative and Genderless Connector for Self-reconfiguration, Self-assembly and Self-healing[C]∥IEEE International Conference on Robotics & Automation. Kobe: IEEE Press, 2009:4253-4258.
[51]MEDINA A, TOMASSINI A, SUATONI M, et al. Towards a Standardized Grasping and Refuelling On-orbit Servicing for Geo Spacecraft[J]. Acta Astronautica, 2017, 134:1-10.
[52]CHOUINARD C, KNIGHT R, TRAN D. Orbital Express Mission Operations Planning and Resource Management[J]. Proceeding of SPIE, 2008, 6958(6):3629-3635.
[53]ROSSETTI D, KEER B, PANEK J, et al. Spacecraft Modularity for Serviceable Satellites[C]∥AIAA SPACE 2014 Conference and Exposition. Pasadena, 2015:1-12.
[54]REED B B, BACON C, NAASZ B J. Designing Spacecraft to Enable Robotic Servicing[C]∥AIAA SPACE and Astronautics Forum and Exposition. Orlando, 2017:5255-5264.
[55]FANTI L, PIMPINELLI S. HP1:a Functionally Multifaceted Protein[J]. Current Opinion in Genetics & Development, 2008, 18(2):174.
[56]CURA J M D, SAAVEDRA G, SNCHEZ-MAESTRO R, et al. Conexpress Orbital Life Extension Vehicle(CX-OLEV) GNC[J]. Esa Bulletin European Space Agency, 2006, 44(127):54-61.
[57]TARABINI L, GIL J, GANDIA F, et al. Ground Guided CX-OLEV Rendez-vous with Uncooperative Geostationary Satellite[J]. Acta Astronautica, 2007, 61(1/6):312-325.
[58]ADOMEIT A, REIMERDES H, LAKSHMANAN M, et al. Structural Concept and Design for Modular and Serviceable Spacecraft Systems[C]∥54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Boston, 2013:1-11.
[59]KORTMANNA M, ZEISA C, MEINERTA T, et al. Design and Qualification of a Multifunctional Interface for Modular Satellite Systems[C]∥69th International Astronautical Congress. Bremen, 2018:1-8.
[60]MCSPADDEN J O, MANKINS J C. Space Solar Power Programs and Microwave Wireless Power Transmission Technology[J]. IEEE Microwave Magazine, 2002, 3(4):46-57.
[61]PALAZZETTI R, DONALDSON K, WENZEL W, et al. Toward a Multifunctional Interface for Future Planetary and Orbital Missions[C]∥68th International Astronautical Congress. Adelaide, 2017:1-8.
[62]YAN X, BRINKMANN W, PALAZZETTI R, et al. Integrated Mechanical, Thermal, Data, and Power Transfer Interfaces for Future Space Robotics[J]. Frontiers in Robotics and AI, 2018, 5:64-80.
[63]KORTMAN M, RUHL S, WEISE J, et al. Building Block Based IBOSS Approach:Fully Modular Systems with Standard Interface to Enhance Future Satellites[C]∥66th International Astronautical Congress. Jerusalem, 2015:1-11.
[64]BARNHART D, SULLIVAN B, HUNTER R, et al. Phoenix Program Status-2013[C]∥AIAA SPACE 2013 Conference and Exposition. San Diego, 2013:5341.
[65]MA H, LI X, SUN L, et al. Designof High-efficiency Microwave Wireless Power Transmission System[J]. Microwave and Optical Technology Letters, 2016, 58(7):1704-1707.
[66]潘骏, 靳方建, 陈文华,等. 电连接器接触件结构分析与插拔试验[J]. 中国机械工程, 2013, 24(12):1636-1641.
PAN Jun, JIN Fangjian, CHEN Wenhua, et al. Structural Analysis of Electrical Connector Contacts and Insertion-extraction Test[J]. China Mechanical Engineering, 2013, 24(12):1636-1641.
[67]MAYDANIK Y F. Loop Heat Pipes[J]. Applied Thermal Engineering, 2005, 25(5/6):635-657.
[68]CHAROENSAWAN P, KHANDEKAR S, GROLL M, et al. Closed Loop Pulsating Heat Pipes, Part A:Parametric Experimental Investigations[J]. Applied Thermal Engineering, 2003, 23(16):2009-2020.
[69]AYEL V, PIETRASANTA L, LALIZEL G, et al. Thermo-hydraulic Analysis of Semi-transparent Flat Plate Pulsating Heat Pipes Tested in 1g and Microgravity Conditions[J]. Microgravity Science and Technology, 2019, 31(4):403-415.
[70]WANG Y Y, QI Z, LI J D, et al. Numerical and Experimental Study on the Heat and Mass Transfer of Porous Plate Water Sublimator with Constant Heat Flux Boundary Condition[J]. Applied Thermal Engineering, 2014, 67(1/2):469-479.
[71]OHIRA K, OTA A, MUKAI Y, et al. Numerical Study of Flow and Heat-transfer Characteristics of Cryogenic Slush Fluid in a Horizontal Circular Pipe (SLUSH-3D)[J]. Cryogenics, 2012, 52(7/9):428-440.
[72]杨惠欣. 航天器在轨可更换模块设计与分析[D]. 沈阳:东北大学, 2011.
YANG Huixin. Design and Analysis of the Orbital Replacement Unit of Spacecraft[D]. Shenyang:Northeastern University, 2011.
[73]籍勇翔. 面向在轨服务的航天器可更换模块概念研究[D]. 南京:南京航空航天大学, 2016.
JI Yongxiang. Conceptual Study of Spacecraft Replacement Unit for On-orbit Servicing[D]. Nanjing:Nanjing University of Aeronautics and Astronautics,2016.
[74]王龙腾. 在轨组装标准接口设计及仿真[D]. 廊坊:北华航天工业学院, 2019.
WANG Longteng. Design and Simulation of Standard Interface Assembly in Orbit[D]. Langfang:North China Institute of Aerospace Engineering, 2019.